Planning Cooperative Motions of Cognitive Automobiles Using Tree Search Algorithms

Abstract

A tree search algorithm is proposed for planning cooperative motions of multiple vehicles. The method relies on planning techniques from artificial intelligence such as A* search and cost-to-go estimation. It avoids the restrictions of decoupling assumptions and exploits the full potential of cooperative actions. Precomputation of lower bounds is used to restrict the search to a small portion of the tree of possible cooperative actions. The proposed algorithm is applied to the problem of planning cooperative maneuvers for multiple cognitive vehicles with the aim of preventing accidents in dangerous traffic situations. Simulation results show the feasibility of the approach and the performance gain obtained by precomputing lower bounds.

A space-discretized mixed-integer linear model for air-conflict resolution with speed and heading maneuvers

“…Frese and Beyerer [11] limit the possible maneuvers to a finite set of instantaneous heading changes with constant speed or instantaneous speed changes with constant heading to solve the problem through a tree exploration. Focusing also on a finite set of maneuvers involving heading changes with constant speed, several authors have applied metaheuristic methods.…”

What You Really Need To Know About Your Neighbor

“…To use formal methods and in particular formal synthesis methods for coordinated vehicle maneuvers has been proposed in among others [18,17,31,12,13,14,30,24]. [18] searches for strategies controlling all vehicles, and employs heuristic methods from artificial intelligence such as tree-search to determine strategies for coordinated vehicle movements. An excellent survey for alternative methods for controlling all vehicles to perform collision free driving tasks is given in [17].…”

Decidability of Verification of Safety Properties of Spatial Families of Linear Hybrid Automata

“…Among the existing work in which the safety of cooperative driver assistance systems (modeling autonomous cars on highways performing lane-change maneuvers) we mention the results in [Frese and Beyerer, 2010], [Hilscher et al, 2011] and [Damm et al, 2013]. [Damm et al, 2013] proposes a design and verification methodology for cooperative driver assistance systems (with focus on applications where drivers are supported in complex driving tasks by safe strategies involving the coordinated movements of multiple vehicles to complete the driving task successfully).…”